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#define BACKEND_NAME "visca"
#define DEBUG
#include <string.h>
#include "visca.h"
#include "libmmbackend.h"
/* TODO
* VISCA server
*/
MM_PLUGIN_API int init(){
backend ptz = {
.name = BACKEND_NAME,
.conf = ptz_configure,
.create = ptz_instance,
.conf_instance = ptz_configure_instance,
.channel = ptz_channel,
.handle = ptz_set,
.process = ptz_handle,
.start = ptz_start,
.shutdown = ptz_shutdown
};
//register backend
if(mm_backend_register(ptz)){
LOG("Failed to register backend");
return 1;
}
return 0;
}
static int ptz_configure(char* option, char* value){
LOG("No backend configuration possible");
return 1;
}
static int ptz_configure_instance(instance* inst, char* option, char* value){
char* host = NULL, *port = NULL, *options = NULL;
ptz_instance_data* data = (ptz_instance_data*) inst->impl;
uint8_t mode = 0;
if(!strcmp(option, "id")){
data->cam_address = strtoul(value, NULL, 10);
return 0;
}
else if(!strcmp(option, "connect")){
if(data->fd >= 0){
LOGPF("Instance %s already connected", inst->name);
return 1;
}
mmbackend_parse_hostspec(value, &host, &port, &options);
if(!host || !port){
LOGPF("Invalid destination address specified for instance %s", inst->name);
return 1;
}
if(options && !strcmp(options, "udp")){
mode = 1;
}
data->fd = mmbackend_socket(host, port, mode ? SOCK_DGRAM : SOCK_STREAM, 0, 0, 1);
if(data->fd < 0){
LOGPF("Failed to connect instance %s", inst->name);
return 1;
}
return 0;
}
else if(!strcmp(option, "device")){
if(data->fd >= 0){
LOGPF("Instance %s already connected", inst->name);
return 1;
}
#ifdef _WIN32
LOG("Direct device connections are not possible on Windows");
return 1;
#else
data->fd = open(value, O_NONBLOCK);
if(data->fd < 0){
LOGPF("Failed to connect instance %s to device %s", inst->name, value);
return 1;
}
return 0;
#endif
}
LOGPF("Unknown instance configuration parameter %s for instance %s", option, inst->name);
return 1;
}
static int ptz_instance(instance* inst){
ptz_instance_data* data = calloc(1, sizeof(ptz_instance_data));
if(!data){
LOG("Failed to allocate memory");
return 1;
}
data->fd = -1;
data->cam_address = 1;
//start with maximum speeds
data->panspeed = ptz_channels[panspeed].max;
data->tiltspeed = ptz_channels[tiltspeed].max;
inst->impl = data;
return 0;
}
static channel* ptz_channel(instance* inst, char* spec, uint8_t flags){
uint64_t ident = pan;
size_t command = 0;
if(flags & mmchannel_input){
LOG("This backend currently only supports output channels");
return NULL;
}
for(command = 0; command < sentinel; command++){
if(!strncmp(spec, ptz_channels[command].name, strlen(ptz_channels[command].name))){
ident = command;
}
}
if(ident == sentinel){
LOGPF("Unknown channel spec %s", spec);
return NULL;
}
//store the memory to be called above the command type
if(ident == call){
ident |= (strtoul(spec + strlen(ptz_channels[call].name), NULL, 10) << 8);
}
return mm_channel(inst, ident, 1);
}
static size_t ptz_set_pantilt(instance* inst, channel* c, channel_value* v, uint8_t* msg){
ptz_instance_data* data = (ptz_instance_data*) inst->impl;
uint32_t* x = (uint32_t*) (msg + 6);
uint32_t* y = (uint32_t*) (msg + 10);
if(c->ident == pan){
data->x = ((ptz_channels[pan].max - ptz_channels[pan].min) * v->normalised) + ptz_channels[pan].min;
}
else{
data->y = ((ptz_channels[tilt].max - ptz_channels[tilt].min) * v->normalised) + ptz_channels[tilt].min;
}
msg[4] = data->panspeed;
msg[5] = data->tiltspeed;
*x = htobe32(data->x);
*y = htobe32(data->y);
return ptz_channels[pan].bytes;
}
static size_t ptz_set_ptspeed(instance* inst, channel* c, channel_value* v, uint8_t* msg){
ptz_instance_data* data = (ptz_instance_data*) inst->impl;
if(c->ident == panspeed){
data->panspeed = ((ptz_channels[panspeed].max - ptz_channels[panspeed].min) * v->normalised) + ptz_channels[panspeed].min;
}
else{
data->tiltspeed = ((ptz_channels[tiltspeed].max - ptz_channels[tiltspeed].min) * v->normalised) + ptz_channels[tiltspeed].min;
}
return 0;
}
static size_t ptz_set_zoom(instance* inst, channel* c, channel_value* v, uint8_t* msg){
uint32_t* position = (uint32_t*) (msg + 4);
*position = htobe32(((ptz_channels[zoom].max - ptz_channels[zoom].min) * v->normalised) + ptz_channels[zoom].min);
return ptz_channels[zoom].bytes;
}
static size_t ptz_set_focus(instance* inst, channel* c, channel_value* v, uint8_t* msg){
uint32_t* position = (uint32_t*) (msg + 4);
*position = htobe32(((ptz_channels[focus].max - ptz_channels[focus].min) * v->normalised) + ptz_channels[focus].min);
return ptz_channels[focus].bytes;
}
static size_t ptz_set_memory(instance* inst, channel* c, channel_value* v, uint8_t* msg){
if(v->normalised < 0.9){
return 0;
}
msg[5] = (c->ident >> 8);
return ptz_channels[call].bytes;
}
static int ptz_set(instance* inst, size_t num, channel** c, channel_value* v){
ptz_instance_data* data = (ptz_instance_data*) inst->impl;
size_t n = 0, bytes = 0;
uint8_t tx[VISCA_BUFFER_LENGTH] = "";
uint8_t command = 0;
for(n = 0; n < num; n++){
bytes = 0;
command = c[n]->ident & 0xFF;
if(ptz_channels[command].bytes){
memcpy(tx, ptz_channels[command].pattern, ptz_channels[command].bytes);
}
tx[0] = 0x80 | (data->cam_address & 0xF);
if(ptz_channels[command].set){
bytes = ptz_channels[command].set(inst, c[n], v + n, tx);
}
if(bytes && mmbackend_send(data->fd, tx, bytes)){
LOGPF("Failed to push %s command on instance %s", ptz_channels[command].name, inst->name);
}
}
return 0;
}
static int ptz_handle(size_t num, managed_fd* fds){
//no events generated here
return 0;
}
static int ptz_start(size_t n, instance** inst){
//no startup needed yet
return 0;
}
static int ptz_shutdown(size_t n, instance** inst){
size_t u;
ptz_instance_data* data = NULL;
for(u = 0; u < n; u++){
data = (ptz_instance_data*) inst[u]->impl;
if(data->fd >= 0){
close(data->fd);
}
free(data);
inst[u]->impl = NULL;
}
LOG("Backend shut down");
return 0;
}
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